Arrangement of milking box stalls

ABSTRACT

A system includes an equipment portion and a plurality of milking box stalls arranged adjacent to the equipment portion. Each of the milking box stalls is of a size sufficient to accommodate a dairy livestock. The system further includes a robotic attacher housed in the equipment portion and configured to service each of the plurality of milking box stalls at different times. The robotic attacher has a gripping portion with a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.

RELATED APPLICATION

This application is a continuation of pending U.S. patent applicationSer. No. 15/641,424 filed Jul. 5, 2017 which is a continuation ofpending U.S. patent application Ser. No. 14/963,314 filed Dec. 9, 2015which is now U.S. Pat. No. 9,737,048 issued Aug. 22, 2017 which is acontinuation of U.S. patent application Ser. No. 14/727,984 filed Jun.2, 2015, which is now U.S. Pat. No. 9,282,720 issued Mar. 15, 2016,which is a continuation of U.S. Ser. No. 13/451,248 filed Apr. 19, 2012,which is now U.S. Pat. No. 9,107,379 issued Aug. 18, 2015, which is acontinuation-in-part application of pending U.S. patent application Ser.No. 13/095,983 entitled “Milking Box With Robotic Attacher,” filed Apr.28, 2011, which is now U.S. Pat. No. 9,107,378 issued Aug. 18, 2015.

TECHNICAL FIELD

This invention relates generally to dairy farming and more particularlyto arrangements of milking box stalls.

BACKGROUND OF THE INVENTION

Over time, the size and complexity of dairy milking operations hasincreased. Accordingly, the need for efficient and scalable systems andmethods that support dairy milking operations has also increased.Systems and methods supporting dairy milking operations, however, haveproven inadequate in various respects.

SUMMARY OF THE INVENTION

According to embodiments of the present disclosure, disadvantages andproblems associated with previous systems supporting dairy milkingoperations may be reduced or eliminated.

In certain embodiments, a system includes a first milking box stall of asize sufficient to accommodate a dairy livestock. The system alsoincludes an equipment portion located adjacent to the first milking boxstall. The equipment portion houses a robotic attacher. The system alsoincludes a second milking box stall of a size sufficient to accommodatea dairy livestock. The second milking box stall is located adjacent tothe equipment portion. The robotic attacher is configured to serviceboth the first milking box stall and the second milking box stall byextending between the rear legs of a dairy livestock located withineither stall in order to attach milking equipment to the dairylivestock.

In one embodiment, a system includes a first milking box stall of a sizesufficient to accommodate a dairy livestock. The system also includes asecond milking box stall of a size sufficient to accommodate a dairylivestock. The second milking box stall is spaced apart from the firstmilking box stall. The first and second milking box stalls face oppositedirections. The system also includes an equipment portion locatedbetween the first milking box stall and the second milking box stall.The equipment portion houses a robotic attacher. The robotic attacher isconfigured to pivot, move laterally, and/or move backward and forwardbetween the first milking box stall and the second milking box stall inorder to service both stalls.

In another embodiment, a system includes a first milking box stall of asize sufficient to accommodate a dairy livestock. The system alsoincludes a second milking box stall of a size sufficient to accommodatea dairy livestock. The second milking box stall is located adjacent tothe first milking box stall. The first and second milking box stallsface the same direction. The system also includes a third milking boxstall of a size sufficient to accommodate a dairy livestock. The thirdmilking box stall is spaced apart from the first milking box stall. Thefirst and third milking box stalls face opposite directions. The systemalso includes an equipment portion located between the first and secondmilking box stalls and the third milking box stall. The equipmentportion houses a robotic attacher. The robotic attacher is configured topivot, move laterally, and/or move backward and forward between thefirst milking box stall, the second milking box stall, and the thirdmilking box stall in order to service all three stalls.

In another embodiment, a system includes a first milking box stall of asize sufficient to accommodate a dairy livestock. The system alsoincludes a second milking box stall of a size sufficient to accommodatea dairy livestock. The second milking box stall is space apart from thefirst milking box stall. The first and second milking box stalls faceopposite directions. The system also includes a third milking box stallof a size sufficient to accommodate a dairy livestock. The third milkingbox stall is located near the first and second milking box stalls. Thefirst and third milking box stalls face perpendicular directions. Thesystem also includes a fourth milking box stall. The fourth milking boxstall is located near the first and second milking box stalls, andspaced apart from the third milking box stall. The third and fourthmilking box stalls face opposite directions. The system also includes anequipment portion located between the first, second, third, and fourthmilking box stalls. The equipment portion houses a robotic attacher. Therobotic attacher is configured to pivot, move laterally, and/or movebackward and forward between the first milking box stall, the secondmilking box stall, the third milking box stall, and the fourth milkingbox stall in order to service all four stalls.

Particular embodiments of the present disclosure may provide one or moretechnical advantages. For example, in certain embodiments, the system ofthe present disclosure includes a robotic attacher configured to servicemultiple milking box stalls. As a result, the cost associated with themilking boxes may be less than that of milking boxes that use a separatemilking robot for each milking box. As another example, in certainembodiments, the system of the present disclosure includes a roboticattacher positioned to the rear of a milking box housing a dairy cowbeing milked rather than to the side of the milking box. The roboticattacher being positioned to the rear of a milking box may allow twomilking boxes to be positioned side-by-side such that the roboticattacher may attach milking equipment to dairy cows located in each ofthe milking boxes. As a result, the cost associated with the milkingboxes may be less than that of milking boxes that use a milking robotfor each milking box. Moreover, the robotic attacher being positioned tothe rear of a milking box may allow for gates to be positioned on eachside of the milking box. As a result, a dairy cow may enter or exit themilking box on either side, allowing for increased sorting capabilities.

Certain embodiments of the present disclosure may include some, all, ornone of the above advantages. One or more other technical advantages maybe readily apparent to those skilled in the art from the figures,descriptions, and claims included herein.

BRIEF DESCRIPTION OF THE DRAWINGS

To provide a more complete understanding of the present invention andthe features and advantages thereof, reference is made to the followingdescription taken in conjunction with the accompanying drawings, inwhich:

FIGS. 1A-1B illustrate example configurations of an enclosure in whichone or more milking boxes are installed, according to certainembodiments of the present disclosure;

FIG. 2 illustrates an example controller that may be used to control oneor more components of the example milking box depicted in FIGS. 1A-1B,according to certain embodiments of the present disclosure;

FIG. 3 illustrates a detailed perspective view of the example milkingbox depicted in FIG. 1, according to certain embodiments of the presentdisclosure;

FIG. 4 illustrates a detailed perspective view of the example roboticattacher depicted in FIG. 3, according to certain embodiments of thepresent disclosure;

FIG. 5 illustrates an example method for milking a dairy cow using theexample milking box depicted in FIGS. 1-4, according to certainembodiments of the present disclosure;

FIG. 6 illustrates an example method for installation of the examplemilking box depicted in FIGS. 1-4, according to certain embodiments ofthe present disclosure;

FIGS. 7A-7D illustrate example configurations of an enclosure in whichone or more milking boxes are installed, according to certainembodiments of the present disclosure;

FIGS. 8A-8C illustrate additional example configurations of an enclosurein which one or more milking boxes are installed, according to certainembodiments of the present disclosure; and

FIG. 9 illustrates an example milking box stall cluster with apentagonal equipment portion, having five sides, according to certainembodiments of the present disclosure.

DETAILED DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates example configurations of an enclosure 100 in whichone or more milking boxes 120 are installed, according to certainembodiments of the present disclosure. Enclosure 100 may be divided intoa number of regions 110 (e.g., regions 110 a and 110 b), and each region110 may include resting stalls, feeding troughs, walking paths, and/orother structure suitable for housing dairy livestock. Although thepresent disclosure contemplates enclosure 100 as housing any suitabledairy livestock (e.g., dairy cows, goats, sheep, water buffalo, etc.),the remainder of this description is detailed with respect to dairycows.

Each milking box 120 may include a stall portion 122 configured to housea dairy cow being milked. The stall portion 122 of each milking box 120may be defined by a number of walls 124, each of which may each beconstructed from any suitable materials arranged in any suitableconfiguration operable to maintain a dairy cow within stall portion 122during milking. In certain embodiments, stall portion 122 of milking box120 may include walls 124 a, 124 b, 124 c, and 124 d. For purposes ofillustration, wall 124 a may be designated as the front of milking box120 such that the head of a dairy cow being milked would be facing wall124 a. Wall 124 c may be positioned opposite wall 124 a and may bedesignated as the rear of milking box 120. Walls 124 b and 124 d mayeach form a side extending between the front and rear of milking box120. Walls 124 a, 124 b, 124 c, and 124 d may be spaced apart a suitabledistance to ensure the comfort of the dairy cow within stall portion122.

Walls 124 b and/or 124 d may comprise one or more gates 126. In certainembodiments, wall 124 b and/or wall 124 d may comprise an entry gate 126a and an exit gate 126 b. A dairy cow may enter milking box 120 throughan opened entry gate 126 a and exit milking box 120 through an openedexit gate 126 b. Closing gates 126 may maintain the dairy cow withinmilking box 120 during milking, while opening one or more gates 126 mayallow the dairy cow to exit milking box 120. In certain embodiments,gates 126 may each be coupled to a corresponding actuator such that thegates 126 may be automatically opened and/or closed. For example, theactuators corresponding to gates 126 may each be configured tocommunicate (e.g., via wireless or wireline communication) with acontroller 200, depicted in detail in FIG. 2.

Controller 200 may include one or more computer systems at one or morelocations. Examples of computer systems may include a personal computer,workstation, network computer, kiosk, wireless data port, personal dataassistant (PDA), one or more processors within these or other devices,or any other suitable device for receiving, processing, storing, andcommunicating data. In short, controller 200 may include any suitablecombination of software, firmware, and hardware. Controller 200 mayinclude any appropriate interface 210 for receiving inputs and providingoutputs, logic 220, one or more processing modules 230, and memorymodule 240. Logic 220 includes any information, logic, applications,rules, and/or instructions stored and/or executed by controller 200.Processing modules 230 may each include one or more microprocessors,controllers, or any other suitable computing devices or resources andmay work, either alone or with other components, to provide a portion orall of the functionality described herein. Controller 200 mayadditionally include (or be communicatively coupled to via wireless orwireline communication) one or more memory modules 240. Memory modules240 may be non-transitory and may each include any memory or databasemodule. Memory modules 240 may take the form of volatile or non-volatilememory, including, without limitation, magnetic media, optical media,random access memory (RAM), read-only memory (ROM), removable media, orany other suitable local or remote memory component.

Returning to FIG. 1, controller 200 may be operable to determine, usingany appropriate logic in conjunction with signals received from othercomponents of milking box 120 (e.g., presence sensor 132, gate sensors134, and/or identification sensor 136, each of which is described withregard to FIG. 3, below), which gates 126 should be open and/or closed.Controller 200 may then communicate signals to the actuators coupled tothe determined gates 126, the signals causing the gates 126 to open orclose. The automated control of gates 126 using controller 200 isdescribed further with regard to FIG. 3, below.

Each milking box 120 may additionally include an equipment portion 128located to the rear of stall portion 122 (i.e., adjacent to rear wall124 c of stall portion 122). Equipment portion 128 may comprise anystructure suitable for housing and/or storing a robotic attacher (e.g.,robotic attacher 150, described below with regard to FIG. 3), one ormore preparation cups, teat cups, receiver jars, separation containers,and/or any other suitable milking equipment. Rear wall 124 c (which mayinclude a backplane 138, as described below with regard to FIG. 3) mayseparate stall portion 122 from equipment portion 128 such thatequipment portion 128 is substantially inaccessible to a dairy cowlocated in stall portion 122. Accordingly a dairy cow located in stallportion 122 may be prevented from accidentally damaging the milkingequipment by kicking, biting, trampling, or exposing the milkingequipment to dirt, fluids, etc.

In certain embodiments, the equipment portion 128 being located to therear of stall portion 122 may allow milking boxes 120 to be aligned in asingle row such that walls 124 b and 124 d of each milking box 120 maycomprise an entry gate 126 a and an exit gate 126 b (as illustrated inFIG. 1A). As a result, milking boxes 120 may be used to sort dairy cowsinto particular regions 110 by controlling the opening/closing of eachgate 126 (e.g., in response to signals from a controller 200, asdescribed above). For example, a dairy cow needing a health check ormedical attention my be sorted into an appropriate region 110 (e.g., aveterinary pen). As another example, a dairy cow determined to befinished milking for the year and needing to be dried off and bread maybe sorted out of the milking heard. As yet another example, a dairy cowmay be sorted into one of a number of regions 110 based on the stage oflactation of the dairy cow (as dairy cows in different stages mayrequire different feeds).

In the preceding discussion, each milking box 120 may include anequipment portion 128. In certain other embodiments, however, a singleequipment portion 128 may service multiple milking boxes 120. In certainother embodiments, the equipment portion 128 being located to the rearof stall portion 122 may allow pairs of milking boxes 120 to be locatedside by side such that the milking boxes share a wall 124 (e.g., wall124 b may be shared between milking box 120 c and milking box 120 d, asdepicted in FIG. 1B). As a result, a single robotic attacher (e.g.,robotic attacher 150, described below with regard to FIG. 3) may beshared by the pair of milking boxes 120, which may reduce the cost ofinstalling multiple milking boxes 120 in the enclosure 100.

FIG. 3 illustrates a detailed perspective view of an example milking box120, according to certain embodiments of the present disclosure. Asdescribed above with regard to FIG. 1, milking box 120 may comprise astall portion 122 (defined by walls 124 and gates 126) and equipmentportion 128 located to the rear of stall portion 122. In certainembodiments, stall portion 122 of milking box 120 may include a feedbowl 130, a presence sensor 132, one or more gate sensors 134, and anidentification sensor 136. Additionally, one or more of feed bowl 130,presence sensor 132, gate sensor(s) 134, and identification sensor 136may be communicatively coupled to controller 200 (described above withregard to FIG. 2).

In certain embodiments, feed bowl 130 may dispense feed in order toattract a dairy cow so that the dairy cow will enter milking box 120voluntarily. Accordingly, at least one of the entry gates 126 a mayremain open when there is no dairy cow present to allow a dairy cow toenter. Once the dairy cow has entered milking box 120, presence sensor132 may detect the presence of the dairy cow. For example, presencesensor 132 may detect when the dairy cow has passed through the entrancegate 126 a and/or when the dairy cow is generally centered in the stallportion 122. Upon detecting the presence of the dairy cow, presencesensor 132 may send a signal to controller 200. In response to thesignal, controller 200 may cause one or more actuators to close gates126. Gate sensor 134 may determine when gates 126 have closed. Gatesensor 134 may communicate a signal to controller 200 upon determiningthat gates 126 have closed. Controller 200 may initiate a milkingprocedure in response to the signal.

In certain embodiments, identification sensor 136 may determine theidentity of the dairy cow. As an example, identification sensor 136 maycomprise an antenna operable to read a radio frequency identification(RFID) from an ear tag, a collar, or other identifier associated withthe dairy cow. Once the dairy cow has been identified, theidentification sensor 136 may optionally be turned off to preventwasting power and/or to minimize the dairy cow's exposure to radiowaves.

Identification sensor 136 may communicate the identity of the dairy cowto controller 200 to facilitate retrieving information describing thedairy cow (e.g., from memory 240 or any other suitable location).Information describing the dairy cow may comprise historical datadescribing the particular dairy cow during a previous time period, suchas a previous milking cycle. The previous milking cycle may refer to amilking cycle in which milking equipment was manually attached (e.g., bya user) or a milking cycle in which milking equipment was automaticallyattached (e.g., by a robotic attacher 150, described below). In certainembodiments, milking equipment may be attached manually the first timethe dairy cow is milked in order to establish initial informationdescribing the dairy cow, such as where the teats are located. Thelocation of the dairy cow's teats may be described relative to a featureof the dairy cow, such as relative to the rear of the dairy cow, thehind legs, and/or a portion of the dairy cow's udder, such as a mid-lineof the udder or relative to one or more of the other teats. A roboticattacher (e.g., robotic attacher 150, described below) may use theinformation describing the location of the teats during subsequentmilkings to facilitate automatically attaching the milking equipment.

Examples of historical data include measurements, statistics, healthinformation, and any other information describing the dairy cow during aprevious time period. Examples of measurements include the length of thedairy cow (e.g., from head to tail) and the location of the dairy cow'steats during a previous milking cycle. Examples of statistics mayinclude statistics describing when the dairy cow was last milked, theamount of milk produced in previous milking cycles, and so on. Examplesof health information may include a designation not to milk the dairycow due to a health problem or a designation to sort the dairy cow intoa veterinary pen. In certain embodiments, a user may set an indicator inthe database to indicate that the dairy cow should be sorted into theveterinary pen because the dairy cow is due for a check-up or becausethe user noticed the dairy cow appears to be ill or injured.

Controller 200 may use the information retrieved according to theidentity of the dairy cow to determine how the particular dairy cowshould be handled. If the information indicates the dairy cow should notbe milked, controller 200 may cause an actuator to open one or more ofthe exit gates 126 b. For example, if controller 200 determines that thedairy cow should be sorted into a particular region 110 of enclosure100, such as a veterinary pen, it may cause the exit gate 126 b thataccesses the selected region 110 to open. Alternatively, controller 200may cause multiple exit gates 126 b to open if the dairy cow is to begiven the option of which region 110 to occupy upon exiting milking box120. In certain embodiments, a prod may be used to encourage the dairycow to exit. Examples of prods include a noise, a mechanical device, ora mild electric shock.

Upon a determination that the dairy cow should be milked, controller 200may continue the milking procedure. In certain embodiments, controller200 may cause a dispenser to drop feed into feed bowl 130. Additionally,controller 200 may cause feed bowl 130 to move toward the dairy cow inorder to encourage the dairy cow to move to a pre-determined part ofstall portion 122. As an example, feed bowl 130 may be initiallypositioned in the front of stall portion 122 when the dairy cow enters.Feed bowl 130 may then move back toward the dairy cow to encourage thedairy cow to move to the rear of stall portion 122 (e.g., againstbackplane 138, described below) in order to facilitate attaching themilking equipment to the dairy cow. To ensure feed bowl 130 does notcrowd the dairy cow, the amount of movement of feed bowl 130 may becustomized to the size of the dairy cow. For example, a user maydetermine an appropriate location for feed bowl 130 the first time thedairy cow enters milking box 120. The location may be stored (e.g., inmemory module 240 of controller 200) such that it may be retrievedduring subsequent milkings according to the identity of the dairy cow.Alternatively, the feed bowl 130 may be configured to continue movingtoward the rear of the stall portion 122 until the dairy cow contactsbackplane 138 (described below), which may indicate that the dairy cowis positioned in a location that is suitable for attaching the milkingequipment.

In certain embodiments, rear wall 124 c of stall portion 122 includes abackplane 138. Backplane 138 may comprise any suitable configuration ofmaterials suitable for locating the rear of the dairy cow in order tofacilitate the efficient attachment of the milking equipment. In certainembodiments, the dairy cow may be backed toward backplane 138 by movingfeed bowl 130 as described above. In certain other embodiments,backplane 138 may be moved forward toward the dairy cow. In certainother embodiments, a combination of backing the dairy cow towardbackplane 138 and moving backplane 138 forward toward the dairy cow maybe used. It may be determined that the rear of the dairy cow has beenlocated when a portion of backplane 138, such as a pipe or bracket,touches the rear of the dairy cow at any suitable location, such asapproximately mid-flank (i.e., between the udder and the tail).Backplane 138 may additionally include a manure gutter for directingmanure toward a side of stall portion 122 (e.g., away from the dairycow's udder and the milking equipment).

In certain embodiments, stall portion 122 may additionally include awaste grate 140 for disposing of waste. Waste grate 140 may have a roughsurface to discourage the dairy cow from standing on it. In addition,waste grate 140 may be dimensioned such that when the dairy cow's hindlegs are positioned on opposite sides of waste grate 140, the hind legsare separated to facilitate attachment of the milking equipment to thedairy cow's teats.

In certain embodiments, equipment portion 128 of milking box 120 mayinclude a robotic attacher 150, one or more preparation cups 166, teatcups 168, pumps 170, receiver jars 172, milk separation containers 174,and/or any other suitable milking equipment. In certain embodiments,robotic attacher 150 may be suspended into equipment portion 128 from arail 160. Rail 160 may be generally located above the level of the udderof a dairy cow located in stall portion 122 such that the teats of thedairy cow may be accessible to robotic attacher 150 when suspended fromrail 160. For example, rail 160 may extend across the top of equipmentportion 128 of milking box 120 and may be oriented substantiallyparallel to rear wall 124 c.

Robotic attacher 150 may be communicatively coupled to controller 200(e.g., via a network facilitating wireless or wireline communication).Controller 200 may cause robotic attacher to attach certain milkingequipment to the dairy cow's teats. For example, in certain embodiments,robotic attacher 150 may access a storage area 164 to retrievepreparation cups 166 and/or teat cups 168. Preparation cups 166 may beadapted to clean the teats, stimulate the flow of milk, and discard foremilk from the teat (e.g., the first few millimeters of milk that may bedirty). Teat cups 168 may be adapted to extract milk from the dairy cow.Preparation cups 166 and/or teat cups 168 attached to extendable hosesmay by hung within storage area 164 between milkings to protect the cupsfrom manure and flies. When it is time to milk the dairy cow, roboticattacher 150 may pull preparation cups 166 from storage area 164 andattach them to the dairy cow one at a time, two at a time, or four at atime. After the teats have been prepared, preparation cups 166 may beremoved and teat cups 168 may be attached one at a time, two at a time,or four at a time. Once the cups are attached, robotic attacher 150 maywithdraw to prevent the dairy cow from causing accidental damage to theequipment, and the system may proceed with milking the dairy cow.

During milking, pump 170 may pump good milk from teat cup 168 toreceiver jar 172 to be stored at a cool temperature. Pump 170 may pumpbad milk to milk separation container 174 to be discarded. Milk may bedetermined to be bad based on testing the milk and/or based on theparticular dairy cow from which the milk has been extracted. Forexample, information retrieved from a database according to the dairycow's identifier may indicate that the milk should be discarded becausethe dairy cow is ill or has recently calved.

In certain embodiments, robotic attacher 150 comprises a main arm 152, asupplemental arm 154, a gripping portion 156, and a vision system 158.In certain embodiments, the movement of main arm 152, supplemental arm154, and gripping portion 156 may be varied in response to signalsreceived from controller 200 (as described in further detail in FIG. 4below). Although the components of robotic attacher 150 are depicted andprimarily described as oriented in a particular manner, the presentdisclosure contemplates the components having any suitable orientation,according to particular needs.

In order to obtain access to the dairy cow's teats, main arm 152,supplemental arm 154, and gripping portion 156 may work together tofacilitate movement in three dimensions, for example, according to anx-axis, a y-axis, and a z-axis. As illustrated, the x-axis extends inthe direction of the dairy cow's length (e.g., from head-to-tail), they-axis extends in the direction of the dairy cow's height, and thez-axis extends in the direction of the dairy cow's width.

Main arm 152 may comprise a vertical arm movably coupled to rail 160.For example, a hydraulic cylinder may movably couple main arm 152 torail 160. Main arm 152 may traverse rail 160 to facilitate movement ofrobotic attacher 150 along the z-axis. Accordingly, rail 160 maycomprise a track and rollers adapted to support the weight of roboticattacher 150 and to facilitate movement of main arm 152 back-and-forthalong rail 160. To prevent wires and hoses from interfering with themovement of main arm 152 along rail 160, guides 162 may be used toloosely hold the wires and hoses in place. For example, guides 162 maycomprise U-shaped brackets that allow the wires and hoses to extend asufficient amount to accommodate movements of main arm 152, but preventthe wires and hoses from dangling in the path of main arm 152.

Main arm 152 attaches to supplemental arm 154. Supplemental arm 154facilitates movements in any direction. That is, supplemental arm 154moves in-and-out along the x-axis, up-and-down along the y-axis, and/orfrom side-to-side along the z-axis. Accordingly, supplemental arm mayextend between the rear legs of the dairy cow located within stallportion 122 in order to attach milking equipment to the dairy cow.Supplemental arm 154 may comprise gripping portion 156. Gripping portion156 may grip a preparation cup 166 or a teat cup 168 for attachment tothe dairy cow's teat. Gripping portion 156 may comprise a wrist adaptedto perform fine movements, such as pivot and tilt movements, to navigatearound the dairy cow's legs and to access the dairy cow's teats. Todetermine the location of the dairy cow's legs and teats, roboticattacher 150 may use vision system 158. An example embodiment of visionsystem 158 is described with respect to FIG. 4 below.

FIG. 4 illustrates a detailed perspective view of an example of roboticattacher 150, according to certain embodiments of the presentdisclosure. Robotic attacher 150 may include a main arm 152, asupplemental arm 154, a gripping portion 156, and a vision system 158.As described with respect to FIG. 3, robotic attacher 150 may becommunicatively coupled to controller 200. Controller 200 may causerobotic attacher to retrieve a cup, such as preparation cup 166 or teatcup 168, move the cup toward a teat of a dairy cow within milking box120, and attach the cup to the teat.

In general, the teats of the dairy cow may be relatively less visiblewhen looking at the dairy cow from the rear and relatively more visiblewhen looking at the dairy cow from the side. Vision system 158 mayfacilitate locating the teats from a position to the rear of the dairycow. Vision system 158 may include multiple cameras, such as a firstcamera 158 a and a second camera 158 b. In certain embodiments, cameras158 a, 158 b may be coupled to robotic attacher 150 and may bepositioned at any suitable location along main arm 152 or supplementalarm 154. As an example, second camera 158 b may be coupled to grippingportion 156 of supplemental arm 154 at a location proximate to the partof gripping portion 156 adapted to hold a teat cup, and first camera 158a may be coupled to supplemental arm 154 at a location between secondcamera 158 b and main arm 152.

In operation, controller 200 may access a first image 176 generated byfirst camera 158 a (e.g., from memory module 240) and use first image176 to determine, using any suitable logic 220, a reference point 178proximate to the udder, which may then be stored (e.g., in memory module240). The reference point 178 may be defined relative to certainfeatures of the dairy cow, such as the hind legs and/or the udder.Controller 200 may send a signal to robotic attacher 150 causing roboticattacher 150 to position second camera 158 b relative to the referencepoint 178. Accordingly, second camera 158 b may have a consistent pointof reference from one milking cycle to the next, which may allow theteats to be located efficiently. Controller 200 may access a secondimage 180 generated by second camera 158 b (e.g., from memory module240) in order to determine, using any suitable logic 220, a location ofa teat.

In certain embodiments, first camera 158 a may comprise athree-dimensional camera adapted to generate a first image 176 depictingthe rear of the dairy cow, including the hind legs and the udder. Usinga three-dimensional camera may facilitate generating a relativelycomplete image of the rear of the dairy cow within approximately acouple of seconds (e.g., one second), which may be faster than theamount of time it would take for a two-dimensional camera to generate asimilar image. In certain embodiments, second camera 158 b may comprisea two-dimensional camera adapted to generate a second image 180depicting at least a portion of the udder to facilitate locating theteats. Second camera 158 b may facilitate locating the end of each teatwith a relatively high degree of accuracy, such as within a fewmillimeters. The location of the teat may be used to instruct roboticattacher 150 where to attach the milking equipment.

First camera 158 a may begin generating the first image 176 in responseto a signal from controller 200 indicating that the dairy cow ispositioned proximate to the milking equipment. As an example, the signalmay indicate that the rear of the dairy cow has been detected by thebackplane 138 of the milking box 120. First camera 158 a may begingenerating the first image 176 from a starting point and may update thefirst image 176 in real-time as robotic attacher 150 approaches thedairy cow. The starting point may be determined according to a defaultposition of robotic attacher 150 (e.g., a position determined relativeto milking stall 122). Thus, the starting point may be determinedwithout the use of historical data associated with the particular dairycow being milked. First camera 158 a may communicate the first image 176to controller 200, and controller 200 may use the image to locate mainfeatures of the dairy cow, such as the right hind leg, the left hindleg, the udder, and/or the tail.

Controller 200 may determine the reference point 178 based on thelocation of the main features of the dairy cow. The reference point 178may be defined relative to certain features of the dairy cow, such asthe hind legs and/or the udder. As an example, the reference point 178may be defined between the hind legs and/or below the udder. Forexample, in certain embodiments, the reference point 178 may be locatedproximate to a mid-point of the udder. The mid-point of the udder mayrefer to a point generally located between the front teats and the rearteats in the x-direction and/or between the left teats and the rightteats in the z-direction. In certain embodiments, the mid-point of theudder may be estimated prior to determining the precise location of theteats, for example, according to the general size and location of theudder. The reference point 178 may be spaced apart from the dairy cow inthe y-direction to minimize the likelihood that second camera 158 btouches the dairy cow. For example, the reference point 178 may belocated a few inches below the mid-point of the udder.

Controller 200 may communicate the reference point 178 and/orinformation describing the main features of the dairy cow to roboticattacher 150. The reference point 178 may be used to position secondcamera 158 b. The information describing the main features of the dairycow may be used to prevent robotic attacher 150 from colliding with thedairy cow when navigating second camera 158 b toward the reference point178. Information describing the main features of the dairy cow mayinclude the position of the hind legs, the space between the hind legs,the position of the udder, the height of the udder, the position of thetail, and/or other information. Once robotic attacher 150 has positionedsecond camera 158 b relative to the reference point 178, second camera158 b may begin scanning the udder.

In certain embodiments, second camera 158 b may determine where to lookfor one or more of the teats according to historical data. Thehistorical data may be received from controller 200 and may describe apreviously-determined location of the teats relative to the referencepoint 178. The previously-determined location may be based on thelocation of the teats during one or more previous milking cycles. As anexample, the previously-determined location may comprise the location ofthe teats during the most recent milking cycle. As another example, thepreviously-determined location may comprise an average of the locationsof the teats during a number of previous milking cycles. As anotherexample, the previously-determined location may comprise the location ofthe teats during a previous milking cycle in which the udder was likelyto be as full of milk as the current milking cycle. For example, ifeight hours have elapsed since the dairy cow was last milked, thepreviously-determined location may be determined from a previous milkingcycle in which the dairy cow had not been milked for approximately eighthours. Referring to historical data may minimize the area that secondcamera 158 b must scan in order to locate the teat and may reduce theamount of time required to locate the teat.

Second camera 158 b may communicate the second image 180 to controller200, and controller 200 may access the second image 180 to locate theteats of the dairy cow. As described above, in certain embodiments,second camera 158 b may comprise a two-dimensional camera, such as ahorizontal laser. If the horizontal laser may scan a portion of theudder other than the teats (e.g., a relatively even surface of theudder), the scan communicated to controller 200 may generally resemble asubstantially solid line. If the horizontal laser scans a portion of theudder that includes the teats, the scan communicated to controller 200may generally resemble a broken line depicting the teats and the spacesbetween the teats. As an example, controller 200 may determine that ateat has been located if the scan comprises a broken line in which asolid portion of the line generally corresponds to the width of a teatand the broken portions of the line generally correspond to theproportions of the space between teats.

In certain embodiments, robotic attacher 150 may further comprise anozzle 182. Nozzle 182 may be coupled to gripping portion 156. Nozzle182 may spray disinfectant on the teats of the dairy cow at the end of amilking cycle, that is, after the dairy cow has been milked and the teatcups have been removed. The disinfectant may be sprayed to preventmastitis or other inflammation or infection. In certain embodiments,gripping portion may be operable to rotate 180° around the x-axis.During milking, second camera 158 b may be generally oriented on top ofgripping portion 156, and nozzle 182 may be generally orientedunderneath gripping portion 156 (i.e., opposite second camera 158 b).Orienting nozzle 182 underneath gripping portion 156 during milking mayprevent milk or other contaminants from accessing nozzle 182. Once themilking has been completed, gripping portion 156 may rotate such thatnozzle 182 may be generally oriented on top of gripping portion 156, andsecond camera 158 b may be generally oriented underneath grippingportion 156. Orienting nozzle 182 on top of gripping portion 156 aftermilking may facilitate spraying the teats with disinfectant from nozzle182.

FIG. 5 illustrates an example method 500 for milking a dairy cow usingthe example milking box 120 depicted in FIGS. 1-4, according to certainembodiments of the present disclosure. In certain embodiments, milkingbox 120 may be positioned within enclosure 100, and at least one of thegates 126 of stall portion 122 may be opened to allow the dairy cow tovoluntarily enter milking box 120. At step 502, presence sensor 132detects the presence of the dairy cow. Presence sensor 132 communicatesa signal to controller 200 indicating the presence of the dairy cow hasbeen detected. Controller 200 sends a signal to an actuator causinggates 126 to close at step 504. Thus, the dairy cow is prevented fromexiting the milking box. Gate closed sensor 134 determines that thegates are closed and communicates a gate-closed signal to controller200. In response to the gate-closed signal, controller 200 causes themilking procedure to proceed to the next step. For example, controller200 sends a signal requesting identification sensor 136 to provide anidentifier associated with the dairy cow.

At step 506, identification sensor 136 reads an ear tag, collar, orother identifier (e.g., an RFID signal) associated with the dairy cow.Identification sensor 136 communicates the identifier to controller 200to facilitate determining the identity of the cow. At step 508,controller 200 retrieves information associated with the particulardairy cow according to the determined identity of the dairy cow. Forexample, information may be retrieved from memory 240. Controller 200determines whether to proceed with milking the dairy cow at step 510.The determination may be made according to the information associatedwith the dairy cow. For example, if the information indicates that thedairy cow is ill or that the dairy cow has already been milked in thecurrent milking cycle, a determination may be made not to proceed withmilking the dairy cow. Alternatively, if the information indicates thatthe dairy cow is healthy and that it is time to milk the dairy cow, adetermination may be made to proceed with milking the dairy cow. If thedairy cow is to be milked, the method continues to step 512. If thedairy cow is not to be milked, the method skips to step 548.

At step 512, controller 200 causes a dispenser to drop feed into feedbowl 130 and positions feed bowl 130. In certain embodiments, feed bowl130 may move toward the rear of the stall to encourage the dairy cow toback-up toward the milking equipment. Controller 200 determines that thedairy cow is positioned near the milking equipment at step 514. Forexample, a signal received from backplane 138 of milking box 120 may beused to determine that the dairy cow is positioned near the milkingequipment. The signal may indicate when the rear of the dairy cowtouches a portion of backplane 138. Upon determining the dairy cow ispositioned near the milking equipment (e.g., toward the rear of thestall portion of the milking box), controller 200 instructs first camera158 a to generate a first image 176 of the rear of the dairy cow at step516. In certain embodiments, first camera 158 a may be positioned onrobotic attacher 150, and first camera 158 a may begin generating thefirst image 176 in-flight, that is, as robotic attacher 150 retrieves apreparation cup 166 or teat cup 168 from storage and begins moving thecup toward the udder. At step 518, controller 200 receives the firstimage 176. The first image 176 includes main features of the dairy cow,such as the hind legs, the udder, and/or the tail. Controller 200accesses the first image 176 to determine a reference point 178 at step520. As an example, the reference point 178 may comprise a point betweenthe dairy cow's hind legs, a point below the dairy cow's udder, and/or apoint proximate to a mid-point of the udder. The mid-point may refer toa point between a first teat and a second teat (e.g., between a leftteat and a right teat and/or between a front teat and a rear teat).

At step 522, controller 200 sends a signal causing robotic attacher 150to position second camera 158 b relative the reference point 178.Controller 200 communicates historical data to second camera 158 b atstep 524. The historical data may comprise data retrieved from adatabase that indicates a previously-determined location of the teatsduring a previous milking cycle. The previously-determined location maybe described relative to the reference point 178. The method proceeds tostep 526 where controller 200 sends a signal causing second camera 158 bto generate a second image 180. Second camera 158 b may generate thesecond image 180 by scanning a portion of the udder indicated by thehistorical data. Second camera 158 b may scan the whole teat tofacilitate identifying the angle of the teat and the point attachment.At step 528, the controller 200 receives the second image 180 from thesecond camera. Controller 200 accesses the second image 180 to determinethe location of the teats at step 530. The teats may be located in anysuitable manner, such as one at a time, two at a time, or four at atime.

Upon determining the location of the teats, controller 200 causesrobotic attacher 150 to attach one or more preparation cups 166 at step532. Second camera 158 b may continue to scan the teat while thepreparation cup is being attached. Continuing to scan the teat may allowfor efficient attachment of the preparation cup. In addition, continuingto scan the teat may allow the preparation cup to be attached at asuitable angle, with the mouthpiece centered on the teat, to preventfolding the teat into the preparation cup. Vacuum pressure may be usedto hold the preparation cups in place. Preparation cup 166 facilitatespreparing the teat at step 534. Preparation may include cleaning theteat, stimulating the flow of milk, and discarding fore milk from theteat. After each of the teats have been prepared, preparation cups 166may be removed at step 536. For example, the vacuum pressure may bereleased to remove the preparation cups and the preparation cups may bereturned to the storage area.

The method continues to step 538, where controller 200 causes roboticattacher 150 to attach a teat cup 168. For example, teat cup 168 may beretrieved from storage area 164 and navigated to the teat. Second camera158 b may continue to scan the teat while the teat cup 168 is beingattached to ensure proper placement of the teat cups. Vacuum pressuremay be used to attach the teat cup 168. A sensor may be used todetermine the vacuum pressure associated with each teat cup 168. If thevacuum level is low, it may indicate that teat cup 168 has fallen offand needs to be reattached. In certain embodiments, additional teat cups168 may be attached by re-performing steps 522-530 to locate additionalteats.

Once teat cups 168 have been attached to all four teats, roboticattacher 150 may retract and the method may proceed to step 540 toextract milk from the dairy cow. As an example, milk may be extracted byapplying pulsation to the teat cup. A sensor may monitor the flow ofmilk. If the flow becomes low, it may be determined whether teat cup 168should be removed or reattached. For example, if teat cup 168 has beenattached for at least approximately one-and-a-half minutes and/or theamount of milk extracted is consistent with previous milking cycles, itmay be determined that teat cup 168 should be removed, otherwise, it maybe determined that teat cup 168 should be reattached. When it isdetermined that teat cup 168 should be removed, controller 200 initiatesstep 542 to remove teat cups 168. For example, controller 200 may send asignal causing the vacuum pressure to be released to allow teat cups 168to drop from the teats. Teat cups 168 may be returned to storage area164 by retracting hoses attached to teat cups 168 or by any othersuitable method. Controller 200 then sends a signal to robotic attacher150 to cause gripping portion 156 to rotate at step 544 in order toorient nozzle 182 toward the teat. The method applies disinfectant tothe teat at step 546 by spraying the disinfectant through nozzle 182.

At step 548, controller 200 determines which gate(s) 126 to open.Selectively opening gates 126 may allow the dairy cow to be sorted intoa particular region 110 of enclosure 100. The dairy cow may be sorted ifits milk tested bad, if it failed to produce a sufficient amount ofmilk, if information retrieved from a database indicates the dairy cowshould be sorted, or for other suitable reasons. Controller 200 sends asignal causing an actuator to open the selected gate(s) at step 550. Incertain embodiments, a prod may be used to encourage the dairy cow toexit the milking box. The dairy cow exits the milking box and the methodends.

FIG. 6 illustrates an example method 600 for installation of milking box120, according to certain embodiments of the present disclosure. Themethod may begin by positioning walls 124 in order to define stallportion 122. For example, the method positions a front wall 124 a atstep 602. The method proceeds to step 604 where a rear wall 124 c ispositioned substantially parallel to front wall 124 a. Rear wall 124 cmay be spaced apart from front wall 124 a a suitable distance toaccommodate a dairy cow. At step 606, a first side wall 124 b ispositioned to extend between front wall 124 a and rear wall 124 c. Thefirst side wall may include one or more gates, such as an entry gate 126a and an exit gate 126 b. The method proceeds to step 608 to position asecond side wall 124 d to extend between front wall 124 a and rear wall124 c. Second side wall 124 d may be spaced apart from first side wall124 d in order to accommodate a dairy livestock within stall portion122. Second side wall 124 d may or may not include gates 126. Forexample, in certain embodiments, second side wall 124 d may comprise asecond entry gate 126 a and a second exit gate 126 b. In alternativeembodiments, second side wall 124 d may be positioned adjacent a secondmilking box and may define a boundary between milking box 120 and theadjacent milking box. In step 610, an equipment portion 128 ispositioned to the rear of milking box 120, adjacent rear wall 124 c.Rear wall 124 c may comprise a backplane 138 adapted to physicallycontact a mid-flank portion of the dairy livestock when the dairylivestock is positioned proximate to equipment portion 128 of milkingbox 120.

At step 612, a movable feed bowl 130 may be positioned within milkingbox 120. Movable feed bowl 130 may be adapted to move from the front ofmilking box 120 toward the rear of milking box 120 to encourage thedairy livestock to back-up toward backplane 138. The method may proceedto step 614 to install a plurality of sensors within milking box 120.Examples of sensors include a presence sensor 132 adapted to detect thepresence of the dairy livestock within milking box 120, one or more gateclosed sensors 134 to detect whether gates 126 are closed, and alivestock identification sensor 136 adapted to determine the identity ofthe dairy livestock present within milking box 120. At step 616, a wastegrate 140 may be positioned within milking box 120.

The method may proceed to step 618 to position a rail 160. Rail 160 maybe positioned to extend in a horizontal direction substantially parallelto rear wall 124 c. For example, the horizontal direction may refer tothe z-axis illustrated in FIG. 3. In certain embodiments, rail 160 maybe positioned proximate to rear wall 124 c. At step 620, a roboticattacher 150 may be positioned in milking box 120. Robotic attacher maycomprise a main arm 152, a supplemental arm 154, including a grippingportion 156, and a vision system 158. In certain embodiments, roboticattacher 150 may be positioned in equipment portion 128 of milking box120 by suspending main arm 152 from rail 160. Accordingly, main arm 152may be operable to traverse rail 160 in the horizontal direction. Incertain embodiments, one or more guides 162 may be positioned proximateto rail 160. Guides 162 may be adapted to guide the path of hoses andwires connected to robotic attacher 150 to prevent the hoses and wiresfrom interfering with the movement of main arm 152 along rail 160.Supplemental arm 154 may be positioned to facilitate selectivelyextending supplemental arm 154 between the rear legs of the dairylivestock located within stall portion 122.

The method proceeds to step 622 to position other milking equipment inequipment portion 128 of milking box 120. Other milking equipment mayinclude one or more preparation cups 164, teat cups 168, pumps 170, milkreceiver jars 172, and/or milk separation containers 174. The methodthen ends.

FIGS. 7A-D illustrate example configurations of an enclosure 100 inwhich one or more milking boxes 120 are arranged, according to certainembodiments of the present disclosure. An equipment portion 128 and themultiple milking boxes 120 serviced by the equipment portion 128 maydefine a milking box stall cluster 121. Each milking box 120 in themilking box stall cluster 121 may be located adjacent to equipmentportion 128. As a result, a single robotic attacher 150 (described abovein connection with FIG. 3) may be shared by all the milking boxes 120 inmilking box stall cluster 121, which may reduce the cost of installingmultiple milking boxes 120 in the enclosure 100.

In certain embodiments, a milking box stall cluster 121 may include twomilking boxes 120, as illustrated in FIG. 7A (e.g. milking boxes 120 a-bin cluster 121 a and milking boxes 120 c-d in cluster 121 b). The twomilking boxes 120 may be arranged on opposite sides of equipment portion128, such that the rear of each stall portion 122 (i.e. the rear wall124 c) is adjacent to the side of equipment portion 128. Therefore, whena cow is present in either of the two milking boxes 120, the cow's rearlegs will be situated near equipment portion 128, allowing roboticattacher 150 to extend between the rear legs of the cow.

As described in connection with FIG. 3, in certain embodiments roboticattacher 150 may be suspended into equipment portion 128 from a rail160. In further embodiments, equipment portion 128 may have a network ofrails 160, allowing a robot attacher 150 suspended from a rail 160 tomove throughout the network of rails 160 and service all milking boxes120 in a milking box stall cluster 121. For example, as illustrated inFIG. 7A, equipment portion 128 may include rails 160 a-c, which mayextend across the top of equipment portion 128, as discussed inconnection with FIG. 3. Rail 160 b may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 a. Rail 160c may be adjacent to and oriented substantially parallel to rear wall124 c of milking box 120 b. Rail 160 a may be oriented substantiallyperpendicular to rail 160 b and rail 160 c and may connect rail 160 band rail 160 c near their respective midpoints. Robotic attacher 150,suspended from rails 160 a-c, may be configured to traverse rails 160b-c in the directions indicated by arrow 161 a in order to movelaterally in servicing each milking box 120. Robotic attacher 150 mayalso be configured to traverse rail 160 a in the directions indicated byarrow 161 b in order to move forward and backward between milking box120 a and milking box 120 b. Robotic attacher 150 may also be configuredto rotate on rails 160 a-c in the counter-clockwise direction indicatedby arrow 161 c and/or in the clockwise direction in order to pivotbetween milking box 120 a and milking box 120 b.

In certain other embodiments, a third milking box 120 may be added tomilking box stall cluster 121, as illustrated in FIG. 7B (e.g. milkingbox 120 e in cluster 121 c and milking box 120 f in cluster 121 d),allowing equipment portion 128 to service all three milking boxes 120.The third milking box 120 may be arranged on a third side of equipmentportion 128, such that the rear of stall portion 122 (i.e. the rear wall124 c) is adjacent to the side of equipment portion 128, allowingrobotic attacher 150 to extend between the rear legs of a cow in thethird milking box.

Equipment portion 128 may have a network of rails 160, allowing arobotic attacher 150 suspended from a rail 160 to move throughout thenetwork of rails 160 and service all three milking boxes 120 in amilking box stall cluster 121. For example, as illustrated in FIG. 7B,equipment portion 128 may include rails 160 a-e which may extend acrossthe top of equipment portion 128, as discussed in connection with FIG.3. Rail 160 b may be adjacent to and oriented substantially parallel torear wall 124 c of milking box 120 a. Rail 160 c may be adjacent to andoriented substantially parallel to rear wall 124 c of milking box 120 b.Rail 160 a may be oriented substantially perpendicular to rail 160 b andrail 160 c, and may connect rail 160 b and rail 160 c near theirrespective midpoints. Rail 160 e may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 e, and mayconnect rail 160 b and rail 160 c near their respective endpoints. Rail160 d may be oriented substantially perpendicular to rail 160 a and rail160 e, and may connect rail 160 a and rail 160 e near their respectivemidpoints. Although rails 160 a-e are depicted and primarily describedas being generally formed in straight lines, this disclosurecontemplates rails 160 a-e with curves, or with any other suitablegeometry.

Robotic attacher 150, suspended from rails 160 a-e, may be configured totraverse rails 160 b-c in the directions indicated by arrow 161 a, andto traverse rail 160 e in the directions indicated by arrow 161 b, inorder to move laterally in servicing each milking box 120. Roboticattacher 150 may also be configured to traverse rail 160 a in thedirections indicated by arrow 161 b, and to traverse rail 160 d in thedirections indicated by arrow 161 a, in order to move forward andbackward between milking box 120 a and milking box 120 b or betweenmilking box 120 e and rail 160 a. Robotic attacher 150 may also beconfigured to rotate on rails 160 a-e in the counter-clockwise directionindicated by arrow 161 c and/or in the clockwise direction in order topivot between the milking boxes 120.

In further embodiments, a fourth milking box 120 may be added to milkingbox stall cluster 121, as illustrated in FIG. 7C (e.g. milking box 120 gin cluster 121 e and milking box 120 h in cluster 121 f), allowingequipment portion 128 to service all four milking boxes 120. The fourthmilking box 120 may be arranged on a fourth side of equipment portion128, such that the rear of stall portion 122 (i.e. the real wall 124 c)is adjacent to the side of equipment portion 128. Thus, equipmentportion 128 may have a rear of a stall portion 122 located adjacent toeach of its four sides, allowing robotic attacher 150 to extend betweenthe rear legs of a cow in any of the four milking boxes 120.

Equipment portion 128 may have a network of rails 160, allowing arobotic attacher 150 suspended from a rail 160 to move throughout thenetwork of rails 160 and service all four milking boxes 120 in a milkingbox stall cluster 121. For example, as illustrated in FIG. 7C, equipmentportion 128 may include rails 160 a-g which may extend across the top ofequipment portion 128, as discussed in connection with FIG. 3. Rail 160b may be adjacent to and oriented substantially parallel to rear wall124 c of milking box 120 a. Rail 160 c may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 b. Rail 160a may be oriented substantially perpendicular to rail 160 b and rail 160c, and may connect rail 160 b and rail 160 c near their respectivemidpoints. Rail 160 e may be adjacent to and oriented substantiallyparallel to rear wall 124 c of milking box 120 e, and may connect rail160 b and rail 160 c near their respective endpoints. Rail 160 d may beoriented substantially perpendicular to rail 160 a and rail 160 e, andmay connect rail 160 a and rail 160 e near their respective midpoints.Rail 160 g may be adjacent to and oriented substantially parallel torear wall 124 c of milking box 120 g, and may connect rail 160 b andrail 160 c near their respective endpoints. Rail 160 f may be orientedsubstantially perpendicular to rail 160 a and rail 160 g, and mayconnect rail 160 a and rail 160 g near their respective midpoints.Although rails 160 a-g are depicted and primarily described as beinggenerally formed in straight lines, this disclosure contemplates rails160 a-g with curves, or with any other suitable geometry. Roboticattacher 150, suspended from rails 160 a-g, may be configured totraverse rails 160 b-c in the directions indicated by arrow 161 a, andto traverse rail 160 e and rail 160 g in the directions indicated byarrow 161 b, in order to move laterally in servicing each milking box120. Robotic attacher 150 may also be configured to traverse rail 160 ain the directions indicated by arrow 161 b, and to traverse rail 160 dand rail 160 f in the directions indicated by arrow 161 a, in order tomove forward and backward between milking box 120 a and milking box 120b or between milking box 120 e and milking box 120 g. Robotic attacher150 may also be configured to rotate on rails 160 a-g in thecounter-clockwise direction indicated by arrow 161 c and/or in theclockwise direction in order to pivot between the milking boxes 120.

In certain embodiments, multiple milking box stall clusters 121 may belocated adjacent to one another within enclosure 100. For example, frontwall 124 a of a milking box 120 in a first milking box stall cluster 121may be located adjacent to front wall 124 a of another milking box 120in a second milking box stall cluster 121, as illustrated in FIGS.7A-7D. In the example of FIG. 7A, front wall 124 a of milking box 120 bin milking box stall cluster 121 a is adjacent to front wall 124 a ofmilking box 120 c in milking box stall cluster 121 b. In the example ofFIG. 7B, front wall 124 a of milking box 120 b in milking box stallcluster 121 c is adjacent to front wall 124 a of milking box 120 c inmilking box stall cluster 121 d. In the example of FIG. 7C, front wall124 a of milking box 120 b in milking box stall cluster 121 e isadjacent to front wall 124 a of milking box 120 c in milking box stallcluster 121 f. In further embodiments, front wall 124 a of each milkingbox 120 in a milking box stall cluster 121 is adjacent to front wall 124a of a milking box 120 in a neighboring milking box stall cluster 121,as illustrated by milking box cluster 121 i in FIG. 7D.

In certain other embodiments, within an arrangement of multiple milkingbox stall clusters 121, various milking box stall clusters 121 maycontain different numbers of milking boxes 120, or utilize differentarrangements of milking boxes 120 around equipment portion 128. Infurther embodiments, multiple milking box stall clusters 121 may bespaced apart from one another. This disclosure contemplates any suitablearrangement of any suitable number of multiple milking box stallclusters 121, each comprising any suitable number of milking boxes 120in any suitable arrangement around equipment portion 128.

As explained in connection with FIGS. 1A-1B, adjacent milking boxes 120may be aligned in rows in order to sort cows as they enter and exit themilking boxes 120. The same is true when adjacent milking boxes 120 maybe members of different milking box stall clusters 121, as illustratedin FIGS. 7A-7D. As a result, milking boxes 120 in multiple milking boxstall clusters 121 may be used to sort dairy cows into particularregions 110 by controlling the opening/closing of each gate 126 (e.g.,in response to signals from a controller 200, as described above).Depending on the configuration of milking box stall clusters 121,varying numbers of regions 110 may be created. FIGS. 7A-7C illustrateexample configurations of multiple milking box stall clusters 121forming two regions 110. FIG. 7D illustrates an example configuration ofmultiple milking box stall clusters 121 forming four regions 110. Inother embodiments, any suitable number of milking box stall clusters 121may be arranged to form any suitable number of regions 110.

As discussed in connection with FIGS. 1A-1B and FIG. 3, controller 200may be operable to determine the appropriate gates 126 to open and closeto accomplish a desired sorting operation. Controller 200 may thencommunicate signals to the actuators coupled to the determined gates126, the signals causing the gates 126 to open or close.

Because in some embodiments various milking boxes 120 may face indifferent directions, the appropriate gates 126 to open in order to sorta cow into an appropriate region 110 will depend upon the orientation ofa particular milking box 120. Referring to FIG. 7A, for example, inorder to sort a cow in milking box 120 a into region 110 b, exit gate126 b may open on the cow's right side. On the other hand, in order tosort a cow in milking box 120 b into region 110 b, exit gate 126 b mayopen on the cow's left side, because milking box 120 b faces in theopposite direction as milking box 120 a, as does a cow inside eachrespective milking box.

In certain embodiments, an appropriate milking box 120 to use in orderto sort a cow into an appropriate region 110 will depend upon thearrangement of milking boxes 120 and milking box stall clusters 121, aswell as the location of a particular milking box 120 within thatarrangement. Referring to FIG. 7C, for example, milking box 120 g maynot be used to sort a cow into region 110 b, as gates 126 on both sidesof milking box 120 g are within region 110 a. However, any of milkingboxes 120 a, 120 b, 120 c, or 120 d may be used to sort a cow fromregion 110 a into region 110 b, as all four milking boxes have access toboth regions.

As the number of regions 110 increase, more than one milking box 120 maybe used in combination to accomplish a particular sorting operation.Referring to FIG. 7D, for example, sorting a cow from region 110 a intoregion 110 d may not be accomplished using a single milking box 120, asno milking box 120 provides access to both region 110 a and region 110d. Sorting a cow from region 110 a into region 11 d may be accomplishedby, for example, using a combination of milking box 120 p, whichprovides access to regions 110 a and 110 c, and milking box 120 u, whichprovides access to regions 110 c and 110 d. Other similar examples alsoexist.

In the examples of FIGS. 7A-7D, each side of equipment portion 128 isadjacent to at most a single milking box 120. In certain otherembodiments, however, two or more milking boxes 120 may be adjacent toany side of equipment portion 128. FIGS. 8A-C illustrate additionalexample configurations of an enclosure 100 in which one or more milkingboxes 120 are arranged, according to certain embodiments of the presentdisclosure.

In certain embodiments, a milking box stall cluster 121 may includethree milking boxes 120, as illustrated in FIG. 8A (e.g. milking boxes120 aa, 120 ab, and 120 ae in cluster 121 l and milking boxes 120 af,120 ac, and 120 ad in cluster 121 m). As shown in FIG. 8A, a first andsecond milking box (e.g. milking boxes 120 aa and 120 ab) may bearranged on the opposite side of equipment portion 128 from a thirdmilking box (e.g. milking box 120 ae), such that the rear of each stallportion 122 (i.e. the rear wall 124 c) is adjacent to the side ofequipment portion 128. The first and second milking box may be adjacentto one another and may share a wall 124 (e.g. wall 124 b). Therefore,when a cow is present in any of the three milking boxes 120, the cow'srear legs will be situated near equipment portion 128, allowing roboticattacher 150 to extend between the rear legs of the cow.

As described in connection with FIG. 3, in certain embodiments roboticattacher 150 may be suspended into equipment portion 128 from a rail160. In further embodiments, equipment portion 128 may have a network ofrails 160, allowing a robotic attacher 150 suspended from a rail 160 tomove throughout the network of rails 160 and service all milking boxes120 in a milking box stall cluster 121. For example, as illustrated inFIG. 8A, equipment portion 128 may include rails 160 h-j, which mayextend across the top of equipment portion 128, as discussed inconnection with FIG. 3. Rail 160 i may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 aa andmilking box 120 ab. Rail 160 j may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 ae. Rail160 h may be oriented substantially perpendicular to rail 160 i and rail160 j and may connect rail 160 i and rail 160 j near their respectivemidpoints. Although rails 160 h-j are depicted and primarily describedas being generally formed in straight lines, this disclosurecontemplates rails 160 h-j with curves, or with any other suitablegeometry.

Robotic attacher 150, suspended from rails 160 h-j, may be configured totraverse rails 160 i-j in the directions indicated by arrow 161 a inorder to move laterally in servicing each milking box 120. Roboticattacher 150 may also be configured to traverse rail 160 i in thedirections indicated by arrow 161 a in order to move between milking box120 aa and milking box 120 ab. Robotic attacher 150 may also beconfigured to traverse rail 160 h in the directions indicated by arrow161 b in order to move forward and backward between milking boxes 120 aaand 120 ab and milking box 120 ae. Robotic attacher 150 may also beconfigured to rotate on rails 160 h-j in the counter-clockwise directionindicated by arrow 161 c and/or in the clockwise direction in order topivot between the milking boxes 120.

In the example of FIG. 8A, front wall 124 a of milking box 120 ae inmilking box stall cluster 121 l is adjacent to front wall 124 a ofmilking box 120 af in milking box stall cluster 121 m. Alternatively,milking box stall clusters 121 l-m could be arranged so that front walls124 a of milking box 120 aa and milking box 120 ab in milking box stallcluster 121 l are adjacent to front walls 124 a of milking box 120 acand milking box 120 ad in milking box stall cluster 121 m, respectively.Likewise, milking box stall clusters 121 l-m could be arranged so thatfront wall 124 a of milking box 120 ae in milking box stall cluster 121l is adjacent to front walls 124 a of milking box 120 ac and milking box120 ad in milking box stall cluster 121 m.

In certain other embodiments, a milking box stall cluster 121 mayinclude four milking boxes 120, as illustrated in FIG. 8B (e.g. milkingboxes 120 aa, 120 ab, 120 ag, and 120 ah in cluster 121 n and milkingboxes 120 ai, 120 aj, 120 ac, and 120 ad in cluster 121 o). As shown inFIG. 8B, a first and second milking box (e.g. milking boxes 120 aa and120 ab) may be arranged on the opposite side of equipment portion 128from a third and fourth milking box (e.g. milking boxes 120 ag and 120ah), such that the rear of each stall portion 122 (i.e. the rear wall124 c) is adjacent to the side of equipment portion 128. The first andsecond milking box may be adjacent to one another and may share a wall124 (e.g. wall 124 b). Likewise, the third and fourth milking box may beadjacent to one another and may share a wall 124. Therefore, when a cowis present in any of the four milking boxes 120, the cow's rear legswill be situated near equipment portion 128, allowing robotic attacher150 to extend between the rear legs of the cow.

Equipment portion 128 may have a network of rails 160, allowing arobotic attacher 150 suspended from a rail 160 to move throughout thenetwork of rails 160 and service all four milking boxes 120 in a milkingbox stall cluster 121. For example, as illustrated in FIG. 8B, equipmentportion 128 may include rails 160 h-j which may extend across the top ofequipment portion 128, as discussed in connection with FIG. 3. Rail 160i may be adjacent to and oriented substantially parallel to rear wall124 c of milking box 120 aa and milking box 120 ab. Rail 160 j may beadjacent to and oriented substantially parallel to rear wall 124 c ofmilking box 120 ag and milking box 120 ah. Rail 160 h may be orientedsubstantially perpendicular to rail 160 i and rail 160 j and may connectrail 160 i and rail 160 j near their respective midpoints. Althoughrails 160 h-j are depicted and primarily described as being generallyformed in straight lines, this disclosure contemplates rails 160 h-jwith curves, or with any other suitable geometry.

Robotic attacher 150, suspended from rails 160 h-j, may be configured totraverse rails 160 i-j in the directions indicated by arrow 161 a inorder to move laterally in servicing each milking box 120. Roboticattacher 150 may also be configured to traverse rail 160 i in thedirections indicated by arrow 161 a in order to move between milking box120 aa and milking box 120 ab, and to traverse rail 160 j in thedirections indicated by arrow 161 a in order to move between milking box120 ag and milking box 120 ah. Robotic attacher 150 may also beconfigured to traverse rail 160 h in the directions indicated by arrow161 b in order to move forward and backward between milking boxes 120 aaand 120 ab and milking boxes 120 ag and 120 ah. Robotic attacher 150 mayalso be configured to rotate on rails 160 h-j in the counter-clockwisedirection indicated by arrow 161 c and/or in the clockwise direction inorder to pivot between the milking boxes 120.

In further embodiments, a fifth and sixth milking box 120 may be addedto milking box stall cluster 121, as illustrated in FIG. 8C (e.g.milking boxes 120 ak and 120 al in cluster 121 p and milking boxes 120am and 120 an in cluster 121 q), allowing equipment portion 128 toservice all six milking boxes 120. The fifth and six milking boxes 120may be arranged opposite one another on a third and fourth side ofequipment portion 128, such that the rear of each stall portion 122(i.e. the real wall 124 c) is adjacent to the side of equipment portion128. Thus, equipment portion 128 may have a rear of one or more stallportions 122 located adjacent to each of its four sides, allowingrobotic attacher 150 to extend between the rear legs of a cow in any ofthe six milking boxes 120.

Equipment portion 128 may have a network of rails 160, allowing arobotic attacher 150 suspended from a rail 160 to move throughout thenetwork of rails 160 and service all six milking boxes 120 in a milkingbox stall cluster 121. For example, as illustrated in FIG. 8C, equipmentportion 128 may include rails 160 h-n which may extend across the top ofequipment portion 128, as discussed in connection with FIG. 3. Rail 160i may be adjacent to and oriented substantially parallel to rear wall124 c of milking box 120 aa and milking box 120 ab. Rail 160 j may beadjacent to and oriented substantially parallel to rear wall 124 c ofmilking box 120 ag and milking box 120 ah. Rail 160 h may be orientedsubstantially perpendicular to rail 160 i and rail 160 j and may connectrail 160 i and rail 160 j near their respective midpoints. Rail 160 lmay be adjacent to and oriented substantially parallel to rear wall 124c of milking box 120 al, and may connect rail 160 i and rail 160 j neartheir respective endpoints. Rail 160 k may be oriented substantiallyperpendicular to rail 160 h and rail 160 l, and may connect rail 160 hand rail 160 l near their respective midpoints. Rail 160 n may beadjacent to and oriented substantially parallel to rear wall 124 c ofmilking box 120 ak, and may connect rail 160 i and rail 160 j near theirrespective endpoints. Rail 160 m may be oriented substantiallyperpendicular to rail 160 h and rail 160 n, and may connect rail 160 hand rail 160 n near their respective midpoints. Although rails 160 h-nare depicted and primarily described as being generally formed instraight lines, this disclosure contemplates rails 160 h-n with curves,or with any other suitable geometry.

Robotic attacher 150, suspended from rails 160 h-n, may be configured totraverse rails 160 i-j in the directions indicated by arrow 161 a, andto traverse rails 160 l and 160 n in the directions indicated by arrow161 b, in order to move laterally in servicing each milking box 120.Robotic attacher 150 may also be configured to traverse rail 160 i inthe directions indicated by arrow 161 a in order to move between milkingbox 120 aa and milking box 120 ab, and to traverse rail 160 j in thedirections indicated by arrow 161 a in order to move between milking box120 ag and milking box 120 ah. Robotic attacher 150 may also beconfigured to traverse rail 160 h in the directions indicated by arrow161 b in order to move forward and backward between milking boxes 120 aaand 120 ab and milking boxes 120 ag and 120 ah. Robotic attacher 150 mayalso be configured to traverse rails 160 k and 160 m in the directionsindicated by arrow 161 a in order to move forward and backward betweenmilking box 120 al and milking box 120 ak. Robotic attacher 150 may alsobe configured to rotate on rails 160 h-n in the counter-clockwisedirection indicated by arrow 161 c and/or in the clockwise direction inorder to pivot between the milking boxes 120.

In further embodiments, a seventh and eighth milking box 120 may beadded to a milking box cluster 121 by arranging the additional milkingboxes such that each side of equipment portion 128 is adjacent to twomilking boxes 120. In the example of milking box cluster 121 q of FIG.8C, a seventh milking box 120 may be arranged adjacent to milking box120 am, and an eighth milking box 120 may be arranged adjacent tomilking box 120 an, such that the rear of each stall portion 122 (i.e.the real wall 124 c) is adjacent to a side of equipment portion 128.Thus, equipment portion 128 may have the rears of two stall portions 122located adjacent to each of its four sides, allowing robotic attacher150 to extend between the rear legs of a cow in any of the eight milkingboxes 120. The sides of equipment portion 128 adjacent to milking boxes120 am and 120 an may need to be longer in order to accommodate theaddition of the seventh and eighth milking box 120.

Although in the preceding discussion, equipment portion 128 is depictedand primarily described as having a generally rectangular shape withfour sides, the present disclosure contemplates the equipment portion128 having any suitable shape with any suitable number of sides,according to particular needs. FIG. 9 illustrates an example milking boxstall cluster 121 with a pentagonal equipment portion 128 h, having fivesides, according to certain embodiments of the present disclosure. Fivemilking boxes 120 are arranged around equipment portion 128 h, such thatthe rear of a milking box stall portion 122 is located adjacent to eachof the five sides of equipment portion 128 h, allowing robotic attacher150 to extend between the rear legs of a cow in any of the five milkingboxes 120.

Equipment portion 128 h may have a network of rails 160 o-x, allowing arobotic attacher 150 suspended from a rail 160 to move throughout thenetwork of rails 160 and service all five milking boxes 120. Rail 160 tmay be adjacent to and oriented substantially parallel to rear wall 124c of milking box 120 ao. Rail 160 u may be adjacent to and orientedsubstantially parallel to rear wall 124 c of milking box 120 aq. Rail160 v may be adjacent to and oriented substantially parallel to rearwall 124 c of milking box 120 as. Rail 160 w may be adjacent to andoriented substantially parallel to rear wall 124 c of milking box 120ar. Rail 160 x may be adjacent to and oriented substantially parallel torear wall 124 c of milking box 120 ap. Rails 160 t-x may beinterconnected: rail 160 t may share an endpoint with rails 160 u and160 x; rail 160 u may share an endpoint with rails 160 t and 160 v; rail160 v may share an endpoint with rails 160 u and 160 w; rail 160 w mayshare an endpoint with rails 160 v and 160 x; and rail 160 x may sharean endpoint with rails 160 w and 160 t. Rails 160 o-s may all share acommon endpoint in the center of equipment portion 128 h and extendradially outward toward rails 160 t-x. The other end of rails 160 o-smay connect to rails 160 t-x near the midpoint of rails 160 t-x: rail160 o may connect to rail 160 t near its midpoint; rail 160 p mayconnect to rail 160 u near its midpoint; rail 160 q may connect to rail160 v near its midpoint; rail 160 r may connect to rail 160 w near itsmidpoint; and rail 160 s may connect to rail 160 x near its midpoint.Although rails 160 o-x are depicted and primarily described as beinggenerally formed in straight lines, this disclosure contemplates rails160 o-x with curves, or with any other suitable geometry.

Robotic attacher 150, suspended from rails 160 o-x, may be configured totraverse rails 160 t-x in order to move laterally in servicing eachmilking box 120, or in order to move laterally between milking boxes120. Robotic attacher 150 may also be configured to traverse rails 160o-s in order to move forward and backward between the center of theequipment portion 128 h and any of the milking boxes 120. Roboticattacher 150 may also be configured to rotate on rails 160 o-x in acounter-clockwise direction and/or a clockwise direction in order topivot between the milking boxes 120.

Modifications, additions, or omissions may be made to the systemsdescribed herein without departing from the scope of the invention. Thecomponents may be integrated or separated. Moreover, the operations maybe performed by more, fewer, or other components. Additionally, theoperations may be performed using any suitable logic comprisingsoftware, hardware, and/or other logic. As used in this document, “each”refers to each member of a set or each member of a subset of a set.

Modifications, additions, or omissions may be made to the methodsdescribed herein without departing from the scope of the invention. Forexample, the steps may be combined, modified, or deleted whereappropriate, and additional steps may be added. Additionally, the stepsmay be performed in any suitable order without departing from the scopeof the present disclosure.

Although the present invention has been described with severalembodiments, diverse changes, substitutions, variations, alterations,and modifications may be suggested to one skilled in the art, and it isintended that the invention encompass all such changes, substitutions,variations, alterations, and modifications as fall within the spirit andscope of the appended claims.

What is claimed is:
 1. A system, comprising: an equipment portion; aplurality of milking box stalls arranged adjacent to the equipmentportion, each of the milking box stalls of a size sufficient toaccommodate a dairy livestock; and a robotic attacher housed in theequipment portion and configured to service each of the plurality ofmilking box stalls at different times; wherein the robotic attachercomprises a gripping portion having a spray nozzle, and the grippingportion is operable to rotate around a longitudinal axis such thatduring a milking operation the spray nozzle is positioned on the bottomof the gripping portion, and after the milking operation the spraynozzle is positioned on the top of the gripping portion.
 2. The systemof claim 1, wherein the equipment portion and the milking box stallsdefine a first milking box stall cluster, and the system comprises asecond milking box cluster comprising a plurality of milking box stallsserviced by a second robotic attacher.
 3. The system of claim 1, whereinthe robotic attacher: extends, during a first time period, between therear legs of a first dairy livestock located in a first milking boxstall in order to attach milking equipment to the first dairy livestock;and extends, during a second time period, between the rear legs of asecond dairy livestock located in a second milking box stall in order toattach milking equipment to the second dairy livestock.
 4. The system ofclaim 1, wherein the robotic attacher moves between a first milking boxstall and a second milking box stall in order to service both stalls,the movement comprising one or more of: pivoting between the firstmilking box stall and the second milking box stall; moving laterallybetween the first milking box stall and the second milking box stall;and moving forward and backward between the first milking box stall andthe second milking box stall.
 5. The system of claim 1, wherein therobotic attacher is further configured to service a third milking boxstall.
 6. The system of claim 5, wherein the robotic attacher: extends,during a first time period, between the rear legs of the first dairylivestock located in the first milking box stall in order to attachmilking equipment to the dairy livestock; extends, during a second timeperiod, between the rear legs of the second dairy livestock located inthe second milking box stall in order to attach milking equipment to thesecond dairy livestock; and extends, during a third time period, betweenthe rear legs of a third dairy livestock located in the third milkingbox stall in order to attach milking equipment to the third dairylivestock.
 7. A method for performing milking operations, comprising:extending, during a first time period, a robotic attacher between therear legs of a first dairy livestock located in a first milking boxstall in order to attach milking equipment to the first dairy livestock;moving the robotic attacher from the first milking box stall to a secondbox stall; and extending, during a second time period, the roboticattacher between the rear legs of a second dairy livestock located inthe second milking box stall in order to attach milking equipment to thesecond dairy livestock
 8. The method of claim 7, wherein the secondmilking box stall faces the same direction as the first milking boxstall.
 9. The method of claim 7, wherein the robotic attacher comprisesa gripping portion having a spray nozzle, and the gripping portion isoperable to rotate around a longitudinal axis such that during a milkingoperation the spray nozzle is positioned on the bottom of the grippingportion, and after the milking operation the spray nozzle is positionedon the top of the gripping portion.
 10. The method of claim 7, whereinmoving the robotic attacher comprises one or more of: pivoting betweenthe first milking box stall and the second milking box stall; movinglaterally between the first milking box stall and the second milking boxstall; and moving forward and backward between the first milking boxstall and the second milking box stall.
 11. The method of claim 7,further comprising: moving the robotic attacher from either of the firstmilking box stall or the second milking box stall to a third milking boxstall; and extending, during a third time period, the robotic attacherbetween the rear legs of a third dairy livestock located in a thirdmilking box stall in order to attach milking equipment to the thirddairy livestock, wherein the third milking box stall faces a differentdirection than at least one of the first milking box stall and thesecond milking box stall.